Spiri
/
spiri-sdk
11
0
Fork 0
Code Issues 2 Pull Requests Actions Packages Projects Releases 1 Wiki Activity

docs: Update README with installation instructions and project overview

This commit is contained in:
Alex Davies 2024-10-16 11:47:57 -03:00 committed by Alex Davies (aider)
parent 24430eb69a
commit 9fe800df0f
1 changed files with 36 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

53
README.md
View File

@ -1,36 +1,47 @@
# Spiri SDK
## Overview
Spiri Robots run a number of docker containers to achieve their core functionality,
we try to keep these essential docker containers in one docker compose file. The
docker compose file you'll find in this repository starts an ardupilot-based UAV simulation
as well as a ROS master, and mavproxy to tie it together, mirroring the core deployment of
a spiri robot.
To get started you can simply clone this repository and run `docker compose --profile uav-sim up`.
Once the simulated UAV is running you can connect to it with QGroundControl or other
MavLink compatible software. We expose the UAVs Mavlink conenction on tcp port 5760.
There is experimental GUI support you can enable by running `docker compose --profile uav-sim --profile ui up`.
## Prerequisites
The Spiri-SDK is intended for use on linux.
It was tested with docker engine `20.10.24` and NVIDIA Container Toolkit CLI version `1.16.2`.
UI features like virtual camera support were tested with Nvidia GPUs using CDI passthrough, but could
work with other GPUs as long as they support CDI.
This SDK was tested using Ubuntu 22.04 and an Nvidia GPU.
UI features like 3D worlds (gazebo simulation) were tested with Nvidia GPUs using CDI passthrough.
Machine-learning features like image recognition are expected to only work with NVIDIA GPUs.
We use VSCode as the default IDE, and we use [Copier](https://copier.readthedocs.io/en/stable/#installation) to
manage project templates.
### Installing Docker
There are many ways to install docker for your platform. We recomend using your linux distribution's package
manager to install docker, using a command like `sudo apt-get install docker-compose-v2`. The exact command
will vary depending on your exact linux distribution.
As per the [official Docker documentation](https://docs.docker.com/engine/install/).
You can see the [official docker documentation](https://docs.docker.com/engine/install/) for more details.
### Installing Copier
As per the [official Copier documentation](https://copier.readthedocs.io/en/stable/#installation)
```bash
python3 -m pip install --user pipx
python3 -m pipx ensurepath
pipx install copier
```
### Installing VSCode
As per the [official VSCode documentation](https://code.visualstudio.com/docs/setup/linux)
```bash
sudo apt-get install wget gpg
wget https://code.visualstudio.com/sha/download?build=stable&os=linux-deb-x64 -O /tmp/vscode.deb
sudo dpkg -i /tmp/vscode.deb
```
### Installing nvidia-container-toolkit
@ -41,8 +52,16 @@ Make sure you run `sudo nvidia-ctk runtime configure --runtime=docker` and `sudo
When installed correctly you should see your gpu available in `nvidia-ctk cdi list`.
## Quickstart
## Creating a new project
To get started you can simply clone this repository and run `docker compose --profile uav-sim up`.
Once the simulated UAV is running you can connect to it with QGroundControl or other
MavLink compatible software. We expose the UAVs Mavlink conenction on tcp port 5760.
There is experimental GUI support you can enable by running `docker compose --profile uav-sim --profile ui up`.
### Creating a new project
We provide project templates you can use for development that integrate seamlessly into
our simulated robots.